{"id":"https://openalex.org/W4390939366","doi":"https://doi.org/10.1109/access.2024.3355205","title":"Motion Planning for Urban Autonomous Bus Considering Localization Uncertainty Using Offset-Free MPC","display_name":"Motion Planning for Urban Autonomous Bus Considering Localization Uncertainty Using Offset-Free MPC","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4390939366","doi":"https://doi.org/10.1109/access.2024.3355205"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3355205","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3355205","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10401884.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10401884.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033615140","display_name":"Ara Jo","orcid":"https://orcid.org/0000-0002-2107-7950"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ara Jo","raw_affiliation_strings":["Future Innovation Institute, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-2107-7950","affiliations":[{"raw_affiliation_string":"Future Innovation Institute, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103027285","display_name":"Woojin Kwon","orcid":"https://orcid.org/0000-0002-3934-1115"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woojin Kwon","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-3934-1115","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023689051","display_name":"Kyongsu Yi","orcid":"https://orcid.org/0000-0002-0484-9752"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyongsu Yi","raw_affiliation_strings":["Department of Mechanical Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0484-9752","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.3283,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.51578716,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"12","issue":null,"first_page":"11743","last_page":"11760"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.8053798675537109},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7044516801834106},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7011831998825073},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6520944833755493},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5202687978744507},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5166028738021851},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45279890298843384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38685324788093567},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35671383142471313},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34666311740875244},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2830643951892853},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22731754183769226},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20961245894432068}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.8053798675537109},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7044516801834106},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7011831998825073},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6520944833755493},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5202687978744507},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5166028738021851},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45279890298843384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38685324788093567},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35671383142471313},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34666311740875244},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2830643951892853},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22731754183769226},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20961245894432068},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3355205","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3355205","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10401884.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:7044c70f9c7243488df928b65c8f65df","is_oa":true,"landing_page_url":"https://doaj.org/article/7044c70f9c7243488df928b65c8f65df","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 11743-11760 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3355205","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3355205","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10401884.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1280646489","display_name":null,"funder_award_id":"RS-2021-KA162182","funder_id":"https://openalex.org/F4320322010","funder_display_name":"Ministry of Land, Infrastructure and Transport"},{"id":"https://openalex.org/G7589075600","display_name":null,"funder_award_id":"RS-2021-KA162182","funder_id":"https://openalex.org/F4320324625","funder_display_name":"Korea Agency for Infrastructure Technology Advancement"}],"funders":[{"id":"https://openalex.org/F4320321292","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542"},{"id":"https://openalex.org/F4320322010","display_name":"Ministry of Land, Infrastructure and Transport","ror":"https://ror.org/04xt5aa77"},{"id":"https://openalex.org/F4320324625","display_name":"Korea Agency for Infrastructure Technology Advancement","ror":"https://ror.org/00rxf7n07"},{"id":"https://openalex.org/F4320336769","display_name":"Institute of Engineering Research, Seoul National University","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390939366.pdf","grobid_xml":"https://content.openalex.org/works/W4390939366.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W2001036189","https://openalex.org/W2005151817","https://openalex.org/W2117402460","https://openalex.org/W2143558629","https://openalex.org/W2315928207","https://openalex.org/W2399440847","https://openalex.org/W2792763193","https://openalex.org/W2915987858","https://openalex.org/W2949411810","https://openalex.org/W2953303875","https://openalex.org/W2971092880","https://openalex.org/W2995723352","https://openalex.org/W3011955462","https://openalex.org/W3012153594","https://openalex.org/W3015837712","https://openalex.org/W3021272849","https://openalex.org/W3037249151","https://openalex.org/W3094586482","https://openalex.org/W3115241155","https://openalex.org/W3118036940","https://openalex.org/W3131672254","https://openalex.org/W3187899477","https://openalex.org/W3193084373","https://openalex.org/W3196496175","https://openalex.org/W4205284853","https://openalex.org/W4206505268","https://openalex.org/W4210280366","https://openalex.org/W4226180932","https://openalex.org/W4226229409","https://openalex.org/W4226410592","https://openalex.org/W4286373328","https://openalex.org/W4289835719","https://openalex.org/W4293370919","https://openalex.org/W4312926402","https://openalex.org/W4315926984","https://openalex.org/W4323777381","https://openalex.org/W4324116476","https://openalex.org/W4385152183","https://openalex.org/W4385191476"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W2350113401","https://openalex.org/W2348727246"],"abstract_inverted_index":{"This":[0],"study":[1],"proposes":[2],"a":[3,126,145,162,206],"novel":[4],"motion":[5,16,75,134,167],"planning":[6,17,76],"strategy":[7],"to":[8,25,40,58,97,148],"address":[9],"localization":[10,45,67,83],"uncertainty":[11,38],"in":[12,175,184],"autonomous":[13,55,78,92,217],"buses.":[14],"Conventional":[15],"algorithms":[18],"utilize":[19],"information":[20,36],"from":[21,91],"high-definition":[22],"(HD)":[23],"maps":[24],"overcome":[26],"the":[27,41,62,95,111,137,150,154,196,199],"limited":[28],"detection":[29],"range":[30],"of":[31,43,54,87,191,198],"on-board":[32],"sensors.":[33],"However,":[34],"this":[35,70],"contains":[37],"due":[39],"utilization":[42],"estimated":[44],"results":[46],"during":[47],"reference":[48],"frame":[49],"transformation.":[50],"The":[51,85,169],"wider":[52],"dimensions":[53],"buses,":[56],"compared":[57],"regular":[59],"vehicles,":[60],"amplify":[61],"potential":[63],"dangers":[64],"associated":[65],"with":[66,116,125],"uncertainty.":[68,84],"Therefore,":[69],"research":[71],"focuses":[72],"on":[73,205,220],"enhancing":[74],"for":[77,132,165],"buses":[79,93],"by":[80,117,143,160],"effectively":[81],"addressing":[82],"investigation":[86],"manual":[88],"driving":[89,218],"data":[90],"highlights":[94],"need":[96],"handle":[98],"three":[99],"issues:":[100],"heading":[101,112],"bias,":[102],"lateral":[103,133,138,185],"position":[104,108,139,156],"error,":[105],"and":[106,189,209],"longitudinal":[107,155,166],"error.":[109],"Firstly,":[110],"bias":[113],"was":[114,141,158,212],"dealt":[115],"implementing":[118,161],"an":[119],"Offset-free":[120],"Model":[121],"Predictive":[122],"Control":[123],"(OF-MPC)":[124],"Moving":[127],"Horizon":[128],"Estimation":[129],"(MHE)":[130],"scheme":[131],"planning.":[135,168],"Secondly,":[136],"error":[140,157],"handled":[142],"incorporating":[144],"drivable":[146],"corridor":[147],"determine":[149],"desired":[151],"path.":[152],"Lastly,":[153],"resolved":[159],"chance-constrained":[163],"MPC":[164],"proposed":[170,200],"approach":[171,201],"showed":[172],"noticeable":[173],"enhancement":[174],"path":[176],"tracking":[177],"performance":[178],"while":[179],"still":[180],"securing":[181],"ride":[182],"comfort":[183],"motion,":[186],"collision":[187],"safety,":[188],"prevention":[190],"stop-line":[192],"violations.":[193],"We":[194],"evaluated":[195],"feasibility":[197],"through":[202,215],"vehicle":[203],"tests":[204,219],"test":[207],"track,":[208],"its":[210],"applicability":[211],"further":[213],"confirmed":[214],"fully":[216],"actual":[221],"urban":[222],"bus-only":[223],"lanes.":[224]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}